539 citations · 700 across the 15 of their papers we have counts for
16 papers
OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer
Jessica Yin, Haozhi Qi, Youngsun Wi +7
Human video demonstrations provide abundant training data for learning robot policies, but video alone cannot capture the rich contact signals critical for mastering manipulation.…
Dexterity from Smart Lenses: Multi-Fingered Robot Manipulation with In-the-Wild Human Demonstrations
Irmak Guzey, Haozhi Qi, Julen Urain +10
Learning multi-fingered robot policies from humans performing daily tasks in natural environments has long been a grand goal in the robotics community. Achieving this would mark si…
Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation
Carolina Higuera, Akash Sharma, Taosha Fan +8
We present Sparsh-X, the first multisensory touch representations across four tactile modalities: image, audio, motion, and pressure. Trained on ~1M contact-rich interactions colle…
Self-supervised perception for tactile skin covered dexterous hands
Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri +9
We present Sparsh-skin, a pre-trained encoder for magnetic skin sensors distributed across the fingertips, phalanges, and palm of a dexterous robot hand. Magnetic tactile skins off…
Enhance Vision-based Tactile Sensors via Dynamic Illumination and Image Fusion
Artemii Redkin, Zdravko Dugonjic, Mike Lambeta +1
Vision-based tactile sensors use structured light to measure deformation in their elastomeric interface. Until now, vision-based tactile sensors such as DIGIT and GelSight have bee…
DexterityGen: Foundation Controller for Unprecedented Dexterity
Zhao-Heng Yin, Changhao Wang, Luis Pineda +11
Teaching robots dexterous manipulation skills, such as tool use, presents a significant challenge. Current approaches can be broadly categorized into two strategies: human teleoper…
From Simple to Complex Skills: The Case of In-Hand Object Reorientation
Haozhi Qi, Brent Yi, Mike Lambeta +3
Learning policies in simulation and transferring them to the real world has become a promising approach in dexterous manipulation. However, bridging the sim-to-real gap for each ne…
Digitizing Touch with an Artificial Multimodal Fingertip
Mike Lambeta, Tingfan Wu, Ali Sengul +20
Touch is a crucial sensing modality that provides rich information about object properties and interactions with the physical environment. Humans and robots both benefit from using…
Sparsh: Self-supervised touch representations for vision-based tactile sensing
Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri +8
In this work, we introduce general purpose touch representations for the increasingly accessible class of vision-based tactile sensors. Such sensors have led to many recent advance…
Using Fiber Optic Bundles to Miniaturize Vision-Based Tactile Sensors
Julia Di, Zdravko Dugonjic, Will Fu +11
Vision-based tactile sensors have recently become popular due to their combination of low cost, very high spatial resolution, and ease of integration using widely available miniatu…
A Touch, Vision, and Language Dataset for Multimodal Alignment
Letian Fu, Gaurav Datta, Huang Huang +7
Touch is an important sensing modality for humans, but it has not yet been incorporated into a multimodal generative language model. This is partially due to the difficulty of obta…
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation
Sudharshan Suresh, Haozhi Qi, Tingfan Wu +9
To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, suc…
General In-Hand Object Rotation with Vision and Touch
Haozhi Qi, Brent Yi, Sudharshan Suresh +4
We introduce RotateIt, a system that enables fingertip-based object rotation along multiple axes by leveraging multimodal sensory inputs. Our system is trained in simulation, where…
PyTouch: A Machine Learning Library for Touch Processing
Mike Lambeta, Huazhe Xu, Jingwei Xu +4
With the increased availability of rich tactile sensors, there is an equally proportional need for open-source and integrated software capable of efficiently and effectively proces…
TACTO: A Fast, Flexible, and Open-source Simulator for High-Resolution Vision-based Tactile Sensors
Shaoxiong Wang, Mike Lambeta, Po-Wei Chou +1
Simulators perform an important role in prototyping, debugging, and benchmarking new advances in robotics and learning for control. Although many physics engines exist, some aspect…
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
Mike Lambeta, Po-Wei Chou, Stephen Tian +9
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic man…